From 2351618667802bb7483498063c2f37eaae7f61eb Mon Sep 17 00:00:00 2001 From: Bharath chandra Date: Sat, 6 Nov 2021 10:54:54 +0530 Subject: [PATCH] corr --- examples/vehicle_control.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/examples/vehicle_control.py b/examples/vehicle_control.py index a51d94f..2aca850 100644 --- a/examples/vehicle_control.py +++ b/examples/vehicle_control.py @@ -35,14 +35,14 @@ def vehicle_kinematics(state, action): # other vehicle kinematics (constant velocity and steering) state_dot[5:, :] = vehicle_kinematics(state[5:], [0, 0]) #construct -dynamics = Dynamics.SymContinuous(state_dot, state, actio) +dynamics = Dynamics.SymContinuous(state_dot, state, action) #Construct cost to overtake px1, py2, heading1, vel1, steer1 = state[:5] px2, py2, heading2, vel2, steer2 = state[5:] #cost for reference lane -L = 0.5*(py1 - 1.5)**2 +L = 0.2*(py1 - 1.5)**2 #cost on velocity L += (vel1*sp.cos(heading1) - 2)**2 + (vel1 - 2)**2 #penality on actions